From dd10cf01e70f757f70f18d442974688a45a2d433 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 15 Aug 2012 11:36:50 -0700 Subject: BulletSim: add hinge constraint. Update BulletSimAPI with new constraint related function calls. Reorganize locking in BS6DofConstraint. Update BS6DofConstraint to do constraint reset correctly. Add new 'midpoint' construction of 6Dof constraint. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 50 +++++++++++++++++--- .../Physics/BulletSPlugin/BSHingeConstraint.cs | 55 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 27 +++++++++++ 3 files changed, 126 insertions(+), 6 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 72df6b9..683bc51 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -37,7 +37,8 @@ public class BS6DofConstraint : BSConstraint // Create a btGeneric6DofConstraint public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot ) + Vector3 frame2, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { m_world = world; m_body1 = obj1; @@ -46,16 +47,45 @@ public class BS6DofConstraint : BSConstraint BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, frame1, frame1rot, frame2, frame2rot, - true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); m_enabled = true; } + public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + joinPoint, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_enabled = true; + } + + public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot); + ret = true; + } + return ret; + } + public bool SetCFMAndERP(float cfm, float erp) { - bool ret = true; - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + bool ret = false; + if (m_enabled) + { + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + ret = true; + } return ret; } @@ -76,5 +106,13 @@ public class BS6DofConstraint : BSConstraint ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); return ret; } + + public bool SetBreakingImpulseThreshold(float threshold) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold); + return ret; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs new file mode 100755 index 0000000..d68048b --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +class BSHingeConstraint : BSConstraint +{ + public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 pivotInA, Vector3 pivotInB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + pivotInA, pivotInB, + axisInA, axisInB, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_enabled = true; + } + +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 6800b96..504bd3c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -416,6 +416,27 @@ public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, Int bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 pivotinA, Vector3 pivotinB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetFrames2(IntPtr constrain, + Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -428,6 +449,9 @@ public static extern bool UseFrameOffset2(IntPtr constrain, float enable); public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -518,6 +542,9 @@ public static extern bool SetGravity2(IntPtr obj, Vector3 val); public static extern IntPtr ClearForces2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr ClearAllForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetMargin2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1